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Machine-translated by Robotheca from the original in Chinese (opens in a new tab). License: GPL-3.0-only (opens in a new tab).

Pineapple Dog – A low-cost, large-scale, fully open-source quadruped robot hardware and software project

1 Introduction

This project is the main open-source repository for the Py-Apple Dog (菠萝狗). The project aims to design and build a low-cost, easy-to-DIY open-source quadruped robot. It emphasizes multi-platform compatibility and serves as a comprehensive open-source quadruped robot project. It consists of four sub-projects (click to visit the corresponding GitHub repositories). The main repository will host the latest combined versions of Dynamics, Controller, and Structure for easy download:

The four projects complement and coordinate with each other, each updating independently while collectively forming a large-scale, comprehensive open-source quadruped robot hardware and software project. If you like the project, please give it a triple-tap on Bilibili and star the repository! For detailed project information, click here (opens in a new tab)

image1

Motion PerformanceRemote Control FeaturesBalance PerformanceSecondary Development InterfaceAI Features
8DOF kinematic inverse solutionRC transmitter controlStatic self-stabilizationSerial communication interfaceLine-following program
VMC algorithmWeb-based online controlWALK gait dynamic self-stabilizationChild-friendly graphical block programmingColor recognition and tracking program
Spatial linkage angle compensationWeb-based online parameter adjustmentFall recovery
Pitch, roll attitude control
Height control
Supports custom mechanical structure dimension parameters

2 User Support and Discussion Forums

The project is accompanied by comprehensive user support materials and discussion groups. Please visit:

4 Open-source Development Information

5 Py-Apple Dog Project Setup Method

  • If you are a beginner

  1. First, study the basic videos by Light Brother from Channel 1 (opens in a new tab) and Channel 2 (opens in a new tab) (open on a computer; mobile may not open the channels)

  2. Visit Py-Apple Structure Series – Open-source Quadruped Mechanical Structure (opens in a new tab) and follow the instructions inside to print and assemble the mechanical structure and parts

  3. Visit Py-Apple Controller Series – Open-source Universal Quadruped Controller (opens in a new tab) and follow the instructions inside to manufacture the main control board

  4. Visit Py-Apple Dynamics Series – Open-source Quadruped Control Software (opens in a new tab) and follow the instructions inside to download and flash the quadruped robot control program

  5. Follow the videos above to learn robot operation and start enjoying it

  6. Join the project discussion group on QQ and the discussion forum to find like-minded enthusiasts

  7. Continue learning and try secondary development according to Secondary Development Guide (opens in a new tab)

  • If you already have some experience (build the project directly)

  1. Visit Py-Apple Structure Series – Open-source Quadruped Mechanical Structure (opens in a new tab) and follow the instructions inside to print and assemble the mechanical structure and parts

  2. Visit Py-Apple Controller Series – Open-source Universal Quadruped Controller (opens in a new tab) and follow the instructions inside to manufacture the main control board

  3. Visit Py-Apple Dynamics Series – Open-source Quadruped Control Software (opens in a new tab) and follow the instructions inside to download and flash the quadruped robot control program

  4. Follow the videos from Channel 1 (opens in a new tab) to learn robot operation and start enjoying it

  5. Join the project discussion group on QQ and the discussion forum to find like-minded enthusiasts

  6. Continue learning and try secondary development according to Secondary Development Guide (opens in a new tab)

  7. If you are interested in learning about robot control principles, you can study the quadruped robot theory videos from Channel 1 (opens in a new tab) and Channel 2 (opens in a new tab)

  • One-stop purchase of all electronic components

The entire Py-Apple Dog project is fully open-source, so you can DIY everything yourself.

However, if you want a one-stop solution to purchase all hardware, mechanical parts, and screws, consider my DIY kit—absolutely a fair price. Your purchase supports me and the open-source project. Buy me dinner and chicken legs for staying up late to develop Py-Apple Dog and create quadruped robot tutorials—add coffee too!!

Official Taobao store: Dengge Open Source (opens in a new tab)

5 Py-Apple Quadruped Robot Project Contributors

6 Accompanying tutorials (click to enter)

For this open-source quadruped robot, we have carefully prepared a series of accompanying quadruped robot tutorials (three series in total)

  • Light Brother Series (New Version) – Updating

Latest update: 2021.4.5 Light Brother's 0-Basis DIY Quadruped Robot Guide (New Version) (opens in a new tab)

  • Light Brother Series (Old Version)

1. Light Brother's 0-Basis DIY Quadruped Robot Guide (1) – Introduction (opens in a new tab)

2. Light Brother's 0-Basis DIY Quadruped Robot Guide (2) – Mechanical Design Essentials (opens in a new tab)

3. Light Brother's 0-Basis DIY Quadruped Robot Guide (3) – Step-by-Step Assembly of a Robodog (opens in a new tab)

4. Light Brother's 0-Basis DIY Quadruped Robot Guide (4) – Robodog Kinematics Inverse Solution and Circuit Connections (opens in a new tab)

5. Light Brother's 0-Basis DIY Quadruped Robot Guide (5) – Open-Source Code Debugging for Walking (opens in a new tab)

6. Light Brother's 0-Basis DIY Quadruped Robot Guide (6) – 3D Modeling Basics and New Pineapple Dog Configuration (opens in a new tab)

7. Light Brother's 0-Basis DIY Quadruped Robot Guide (7) – Software Architecture, Height Adjustment, and Inverse Solution Implementation (opens in a new tab)

8. Light Brother's 0-Basis DIY Quadruped Robot Guide (8) – Drawing Cycloid Gait Curves Using MATLAB (opens in a new tab)

  • Light Sister Series

1. Light Sister Quadruped Robot Math Mini-Lesson (1) – Rotation Transformation (opens in a new tab)

2. [Advanced Tutorial] 12-DOF Inverse Solution for Robodog [Light Brother's 0-Basis DIY Quadruped Robot Guide] – Advanced Episode 1 (opens in a new tab)

3. [Advanced Tutorial] 12-DOF Forward Solution for Robodog [Light Brother's 0-Basis DIY Quadruped Robot Guide] – Advanced Episode 2 (opens in a new tab)

  • Code Text Explanation

Py-apple Dynamics 6.0 Code Text Explanation by LiangYuHao (opens in a new tab)

Files by @ToanTech, at commit d2bb34f, read from GitHub in your browser. Hardware license: GPL-3.0-only; software license: GPL-3.0-only. Robotheca doesn't review code: read it before running it.